Methods and systems for dithering active sensor pulse emissions

Patent metadata

Field	Value
Publication number	US-11567180-B2
Application number	US-202117556207-A
Country	US
Kind code	B2
Filing date	Dec 20, 2021
Priority date	Sep 19, 2018
Publication date	Jan 31, 2023
Grant date	Jan 31, 2023

Abstract

One example device comprises a plurality of emitters including at least a first emitter and a second emitter. The first emitter emits light that illuminates a first portion of a field-of-view (FOV) of the device. The second emitter emits light that illuminates a second portion of the FOV. The device also comprises a controller that obtains a scan of the FOV. The controller causes each emitter of the plurality of emitters to emit a respective light pulse during an emission time period associated with the scan. The controller causes the first emitter to emit a first-emitter light pulse at a first-emitter time offset from a start time of the emission time period. The controller causes the second emitter to emit a second-emitter light pulse at a second-emitter time offset from the start time of the emission time period.

First claim

What is claimed is:

1. A method comprising:
performing a first scan of a field-of-view (FOV) using a plurality of emitters and a plurality of detectors, wherein the plurality of emitters includes a first emitter configured to illuminate a portion of the FOV, wherein the plurality of detectors includes a first detector configured to detect light from the portion of the FOV illuminated by the first emitter, wherein performing the first scan comprises:
causing the plurality of emitters to emit a first plurality of light pulses during a first emission time period, wherein causing the plurality of emitters to emit the first plurality of light pulses comprises causing the first emitter to emit a first light pulse at a first emission time, wherein the first emission time has a first time offset from a start time of the first emission time period; and
detecting, by the plurality of detectors, a first plurality of light signals during a first detection time period, wherein the first plurality of light signals includes a first light signal detected by the first detector at a first detection time;
performing a second scan of the FOV using the plurality of emitters and the plurality of detectors, wherein performing the second scan comprises:
causing the plurality of emitters to emit a second plurality of light pulses during a second emission time period, wherein causing the plurality of emitters to emit the second plurality of light pulses comprises causing the first emitter to emit a second light pulse at a second emission time, wherein the second emission time has a second time offset from a start time of the second emission time period, and wherein the second time offset is different than the first time offset; and
detecting, by the plurality of detectors, a second plurality of light signals during a second detection time period, wherein the second plurality of light signals includes a second light signal detected by the first detector at a second detection time; and
determining whether the first light signal is a spurious signal or a reflection from an object based on the first emission time, the first detection time, the second emission time, and the second detection time.

2. The method of claim 1 , wherein determining whether the first light signal is a spurious signal or a reflection from an object comprises:
determining a first distance based on the first emission time and the first detection time;
determining a second distance based on the second emission time and the second detection time; and
determining whether the first distance and the second distance are within a threshold tolerance of each other.

3. The method of claim 2 , wherein determining whether the first light signal is a spurious signal or a reflection from an object further comprises:
responsive to a determination that the first distance and the second distance are within the threshold tolerance of each other, determining that the first light signal is a reflection from an object.

4. The method of claim 3 , further comprising:
generating a three-dimensional map based on data from the first and second scans, wherein the data includes the first distance determined from the first light signal.

5. The method of claim 2 , wherein determining whether the first light signal is a spurious signal or a reflection from an object further comprises:
responsive to a determination that the first distance and the second distance are not within the threshold tolerance of each other, determining that the first light signal is a spurious signal.

6. The method of claim 5 , further comprising:
generating a three-dimensional map based on data from the first and second scans, wherein the data does not include the first distance determined from the first light signal.

7. The method of claim 1 , wherein the first time offset and the second time offset are part of a pseudo-random sequence.

8. The method of claim 1 , wherein the plurality of emitters includes a second emitter configured to illuminate a different portion of the FOV than illuminated by the first emitter, wherein the plurality of detectors includes a second detector configured to detect light from the portion of the FOV illuminated by the second emitter, wherein performing the first scan further comprises:
causing the second emitter to emit a third light pulse at a third emission time, wherein the third emission time has a third time offset from the start time of the first emission time period; and
wherein the first plurality of light signals includes a third light signal detected by the second detector at a third detection time;
wherein performing the second scan further comprises:
causing the second emitter to emit a fourth light pulse at a fourth emission time, wherein the fourth emission time has a fourth time offset from the start time of the second emission time period, and wherein the fourth time offset is different than the third time offset; and
wherein the second plurality of light signals includes a fourth light signal detected by the second detector at a fourth detection time.

9. The method of claim 8 , further comprising:
determining whether the third light signal is a spurious signal or a reflection from an object based on the third emission time, the third detection time, the fourth emission time, and the fourth detection time.

10. The method of claim 8 , wherein the third time offset is different than the first time offset and the fourth time offset is different than the second time offset.

11. A device comprising:
a plurality of emitters, wherein the plurality of emitters includes a first emitter, wherein the first emitter is configured to illuminate a first portion of a field-of-view (FOV) of the device;
a plurality of detectors, wherein the plurality of detectors includes a first detector configured to detect light from the portion of the FOV illuminated by the first emitter; and
a controller, wherein the controller is configured to perform operations comprising:
(i) performing a first scan of the FOV, wherein performing the first scan comprises:
causing the plurality of emitters to emit a first plurality of light pulses during a first emission time period, wherein causing the plurality of emitters to emit the first plurality of light pulses comprises causing the first emitter to emit a first light pulse at a first emission time, wherein the first emission time has a first time offset from a start time of the first emission time period; and
detecting, by the plurality of detectors, a first plurality of light signals during a first detection time period, wherein the first plurality of light signals includes a first light signal detected by the first detector at a first detection time;
(ii) performing a second scan of the FOV, wherein performing the second scan comprises:
causing the plurality of emitters to emit a second plurality of light pulses during a second emission time period, wherein causing the plurality of emitters to emit the second plurality of light pulses comprises causing the first emitter to emit a second light pulse at a second emission time, wherein the second emission time has a second time offset from a start time of the second emission time period, and wherein the second time offset is different than the first time offset; and
detecting, by the plurality of detectors, a second plurality of light signals during a second detection time period, wherein the second plurality of light signals includes a second light signal detected by the first detector at a second detection time; and
(iii) determining whether the first light signal is a spurious signal or a reflection from an object based on the first emission time, the first detec

Assignees

• Waymo Llc

Inventors

• Marx Michael
• Droz Pierre-Yves

Classifications

• G01S7/491

  Details of non-pulse systems · CPC title

• G01S7/484 Primary

  Transmitters · CPC title

• G01S17/10 Primary

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• G01S7/481

  Constructional features, e.g. arrangements of optical elements · CPC title

• G01S17/42

  Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S17/46) · CPC title